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<a href="sendcmd_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00007"></a>00007 <span class="preprocessor">#ifndef SENDCMD_H</span>
<a name="l00008"></a>00008 <span class="preprocessor"></span><span class="preprocessor">#define SENDCMD_H</span>
<a name="l00009"></a>00009 <span class="preprocessor"></span>
<a name="l00010"></a>00010 <span class="preprocessor">#include &lt;unistd.h&gt;</span>
<a name="l00011"></a>00011 <span class="preprocessor">#include &lt;stdio.h&gt;</span>
<a name="l00012"></a>00012 <span class="preprocessor">#include &lt;stdlib.h&gt;</span>
<a name="l00013"></a>00013 <span class="preprocessor">#include &lt;math.h&gt;</span>
<a name="l00014"></a>00014 <span class="preprocessor">#include &quot;../lowLevel/LowLevel.h&quot;</span>
<a name="l00015"></a>00015 <span class="preprocessor">#include &quot;../wifi/RobotData.h&quot;</span>
<a name="l00016"></a>00016 <span class="preprocessor">#include &quot;<a class="code" href="Point_8h.html" title="Declaration of the Point class. This class holds the information about a specific point in the world ...">Point.h</a>&quot;</span>
<a name="l00017"></a>00017 <span class="preprocessor">#include &quot;../wifi/Client.h&quot;</span>
<a name="l00018"></a>00018 <span class="preprocessor">#include &lt;vector&gt;</span>
<a name="l00019"></a>00019 <span class="preprocessor">#include &quot;<a class="code" href="CmdGenerator_8h.html" title="Declaration of the CmdGenerator class. This class will produce a list of which each item contains two...">CmdGenerator.h</a>&quot;</span>
<a name="l00020"></a>00020 
<a name="l00021"></a>00021 <span class="preprocessor">#define HOEKPERSEC 80</span>
<a name="l00022"></a>00022 <span class="preprocessor"></span><span class="preprocessor">#define PIXPSEC 100</span>
<a name="l00023"></a>00023 <span class="preprocessor"></span><span class="comment">//#define TIME 4.5</span>
<a name="l00024"></a>00024 <span class="preprocessor">#define LSPEED 100</span>
<a name="l00025"></a>00025 <span class="preprocessor"></span><span class="preprocessor">#define RSPEED 100</span>
<a name="l00026"></a>00026 <span class="preprocessor"></span>
<a name="l00030"></a><a class="code" href="classsendcmd.html">00030</a> <span class="keyword">class </span><a class="code" href="classsendcmd.html" title="send the commands to the lowlevel and checks if the correct position is reached">sendcmd</a>{
<a name="l00031"></a>00031         <span class="keyword">public</span>:
<a name="l00032"></a>00032 
<a name="l00036"></a>00036                 <a class="code" href="classsendcmd.html#aad4bed0215191088e6b7b131e0c19626">sendcmd</a>(<a class="code" href="classRobotData.html" title="Defines the class &#39;RobotData&#39;, Which will contain the position and angle of the robot aswell as the p...">RobotData</a> *rob, <a class="code" href="classClient.html" title="Defines the class &#39;Client&#39;, Which will setup the client.">Client</a> *client);
<a name="l00037"></a>00037 
<a name="l00041"></a>00041                 <a class="code" href="classsendcmd.html#a0120ecfb0fdcac3b0e2e47a71a6ee7cf">~sendcmd</a>();
<a name="l00042"></a>00042                 
<a name="l00052"></a>00052                 <span class="keywordtype">void</span> <a class="code" href="classsendcmd.html#a030552c6ac9ea5822869f4495c64a607">drive</a>(<span class="keywordtype">int</span> afstand, <span class="keywordtype">float</span> hoek);
<a name="l00053"></a>00053 
<a name="l00063"></a>00063                 <span class="keywordtype">void</span> <a class="code" href="classsendcmd.html#ad26cecad624a173c817a3d8dbc8f51c4">stuurcomd</a>(<span class="keywordtype">int</span> tijd,<span class="keywordtype">int</span> geval);
<a name="l00064"></a>00064 
<a name="l00065"></a>00065                 <span class="comment">/*</span>
<a name="l00066"></a>00066 <span class="comment">                 * When the cmd is finished it wil controlate if it has reached the correct position</span>
<a name="l00067"></a>00067 <span class="comment">                 */</span>
<a name="l00068"></a>00068                 <span class="keywordtype">bool</span> controleernabereikt(<span class="keywordtype">void</span>);
<a name="l00069"></a>00069                 
<a name="l00074"></a>00074                 <span class="keywordtype">void</span> <a class="code" href="classsendcmd.html#adc9fc00236419abcc8ab855c983ba640">controlleerpositie</a>(<span class="keywordtype">int</span> tijd);
<a name="l00078"></a>00078                 <span class="keywordtype">void</span> <a class="code" href="classsendcmd.html#a60ef58369cbd5f563493e7a3d2fdab00">controlleerdraai</a>(<span class="keywordtype">int</span> tijd);
<a name="l00079"></a>00079 
<a name="l00083"></a>00083                 <span class="keywordtype">void</span> <a class="code" href="classsendcmd.html#a70f3c0f7fb5109c83f925ce4ccdfb1fe">closegrab</a>();
<a name="l00084"></a>00084 
<a name="l00088"></a>00088                 <span class="keywordtype">void</span> <a class="code" href="classsendcmd.html#a49a3960cecd165cad7e23ad6fb8266e3">opengrab</a>();
<a name="l00089"></a>00089                 
<a name="l00090"></a>00090 
<a name="l00091"></a>00091         <span class="keyword">private</span>:
<a name="l00092"></a>00092                 <a class="code" href="classLowLevel.html" title="Provides the low level API to the program.">LowLevel</a> *call;         <span class="comment">//functions of lowlevel</span>
<a name="l00093"></a>00093                 <span class="keywordtype">int</span> robotd_x;           <span class="comment">//destination x of robot        </span>
<a name="l00094"></a>00094                 <span class="keywordtype">int</span> robotd_y;           <span class="comment">//destination y of robot</span>
<a name="l00095"></a>00095                 <span class="keywordtype">float</span> robotd_angle;     <span class="comment">//destination angle of robot</span>
<a name="l00096"></a>00096                 <a class="code" href="classRobotData.html" title="Defines the class &#39;RobotData&#39;, Which will contain the position and angle of the robot aswell as the p...">RobotData</a> *robot;       <span class="comment">//robot</span>
<a name="l00097"></a>00097                 <a class="code" href="classCmdGenerator.html" title="CmdGenerator class generates commands for the robot.">CmdGenerator</a> *cmdgen;           <span class="comment">//generator om nieuwe commandos te sturen wanneer niet op juiste plaats staat</span>
<a name="l00098"></a>00098                 <a class="code" href="classClient.html" title="Defines the class &#39;Client&#39;, Which will setup the client.">Client</a> *WifiClient;     <span class="comment">//data van de wifi dat binnenkomt</span>
<a name="l00099"></a>00099                 <a class="code" href="classRobotData.html" title="Defines the class &#39;RobotData&#39;, Which will contain the position and angle of the robot aswell as the p...">RobotData</a> *nutteloos;
<a name="l00100"></a>00100                 vector&lt;Point&gt; obstakels;
<a name="l00101"></a>00101 };
<a name="l00102"></a>00102 
<a name="l00103"></a>00103 <span class="preprocessor">#endif</span>
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